Telekinesis Agentic Skill Library

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Get Actual Tool Flange Pose ​

SUMMARY

Get Actual Tool Flange Pose returns the current Cartesian pose of the tool flange (the mechanical interface at the wrist) without applying the active TCP offset. This is distinct from Get Cartesian Pose, which returns the TCP pose with the offset applied.

Use this skill when you need the raw flange position for calibration, tool setup, or when the TCP offset is not relevant.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill ​

python
flange_pose = robot.get_actual_tool_flange_pose()

The Code ​

Example: Read the Tool Flange Pose ​

Connect to the robot, read the flange pose, and log it.

python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

flange_pose = robot.get_actual_tool_flange_pose()
logger.info(f"Tool flange pose (x, y, z, rx, ry, rz): {flange_pose}")

# Disconnect
robot.disconnect()

The Explanation of the Code ​

get_actual_tool_flange_pose returns a 6-element list [x, y, z, rx, ry, rz] representing the pose of the mechanical flange in the robot base frame. Position components are in meters; orientation is expressed as a rotation vector (axis-angle) in radians. Unlike get_cartesian_pose, this value does not include any TCP offset — it represents the physical flange mounting face.

How to Tune the Parameters ​

This skill takes no parameters.

Return Value ​

TypeDescription
list[float]6-element list [x, y, z, rx, ry, rz] — flange position [m] and orientation as rotation vector [rad].

Where to Use the Skill ​

  • TCP calibration — Measure the raw flange pose before computing a TCP offset
  • Tool setup — Determine the flange position when mounting or characterizing a new end-effector
  • Sensor fusion — Use the flange pose as a reference frame independent of the configured TCP

When Not to Use the Skill ​

Do not use Get Actual Tool Flange Pose when: